In this paper, we present a practical autonomous navigation system based on the visual-inertial of a quadrotor. Due to the practical engineering requirement of improving the applicability of the advanced visual-inertial navigation fusion algorithm and 3D mapping algorithm, we realize the on-line 3D trajectory planning and tracking control algorithm with full consideration of UAV dynamics design, and finally complete the quadrotor autonomous navigation system consisting of UAV, upper computer and other software and hardware components. The feasibility is verified by actual flight experiments. The results show that the quadrotor autonomous navigation system can achieve high-precision positioning, online 3D reconstruction and dynamic autonomous navigation in a complex unknown environment without GPS. The system has good accuracy and robustness in real-time, which provides a strong technical support for the subsequent expansion of platform function.
An Autonomous Visual-Inertial-Based Navigation System for Quadrotor
Lect. Notes Electrical Eng.
Chinese Intelligent Systems Conference ; 2020 ; Shenzhen City, China October 24, 2020 - October 25, 2020
2020-09-30
11 pages
Aufsatz/Kapitel (Buch)
Elektronische Ressource
Englisch